JP6560146B2 - Viscous material applicator - Google Patents

Description

  The present invention relates to a viscous material coating apparatus.

  Conventionally, there is JP-A-64-080468 as a technique in such a field. The adhesive coating apparatus described in this publication has a robot arm having a coating nozzle at the tip. This robot applies a viscous material such as an adhesive to a plate-like workpiece such as a glass plate of an automobile while changing the position by operating an arm. By controlling the robot by a program and automatically applying a viscous material, it is possible to apply a plurality of workpieces with the same application locus.

Japanese Patent Application Laid-Open No. 64-080468

However, in the above-described conventional coating apparatus, in the case of a line with a small number of productions, automatic coating by a robot requires a large and expensive equipment. For example, when applying viscous material by hand coating, set a guide that is notched along the same locus as the application locus on the positioned glass, and guarantee the application locus by attaching a nozzle to the guide. Can do. However, when a viscous material is applied by hand and quality is required for application, the feeding speed of the application nozzle by the operator, the grip strength against the nozzle, the angle of the application nozzle, It is necessary to master the pressing force of the guide and the material feed rate. Therefore, the same quality cannot be maintained for newcomers and the number of workers may be limited.
The present invention provides a viscous material applicator capable of applying a viscous material to a workpiece with an arbitrary trajectory with a simple configuration.

A viscous material coating apparatus according to the present invention includes a stage unit that horizontally supports a plate-shaped workpiece placed thereon, a support unit that supports the stage unit from below, and is fixed at a predetermined position on the surface of the workpiece. And a control unit that controls the operation of the support unit, and the support unit is capable of sliding the stage unit in one direction within a horizontal plane, and the vertical direction is an axis. As rotatable.
Thus, the viscous material can be applied while the workpiece placed on the stage unit is horizontally moved and rotated.

  Thereby, a viscous material can be apply | coated with the arbitrary locus | trajectories on the surface of a workpiece | work by simple structure.

It is a figure which shows the outline of a viscous material coating device. It is a perspective view which shows a support part and a stage part. It is a front view which shows a support part and a stage part. It is a perspective view which shows an application part. It shows the command value and actual value of the trajectory in which the nozzle moves relative to the xy coordinates arranged on the stage unit.

  Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the viscous material application device 1 includes a base 11, a support 12 connected to the base 11, a stage 13 connected to the support 12, and a workpiece placed on the base 11. An application nozzle 14 that is connected and an application nozzle that applies a viscous material to the workpiece is disposed on the stage unit 13, and a control unit 15 that controls the operation of the support unit 12.

  The base 11 is a frame assembled in a substantially rectangular parallelepiped shape. In the following, it is assumed that the base 11 is assembled in a substantially rectangular parallelepiped shape by frames extending in the X-axis direction, the Y-axis direction horizontal to the ground, and the Z-axis direction that is perpendicular to the ground. As will be described, frames other than these may be included. In addition, a plurality of wheels and a stopper that restricts the rotation of the wheels are provided in the lower portion of the base 11. In addition, a plurality of rail-like linear motion guides (LM guides) 11b are formed on the upper side of the frame 11a extending in the Y direction on the upper part forming the base 11 so as to extend in the Y direction along the frame 11a. ing. It should be noted that no wheel may be provided below the base 11. Further, the mechanism is not limited to the LM guide as long as the mechanism is movable in the linear direction.

  The LM guide 11b stabilizes the operation of the stage portion 13 in the Y direction by guiding a protrusion 51a of the slide plate 51 described later in the Y direction.

  As shown in FIGS. 2 and 3, the support portion 12 is provided on the upper portion of the base portion 11. The support unit 12 includes a moving mechanism unit 21 that moves the stage unit 13 in the Y-axis direction, a rotating mechanism unit 22 that rotates the stage unit 13 around the Z axis, a moving mechanism unit 21, the rotating mechanism unit 22, and the stage unit. And a connecting portion 23 for connecting 13 to the connecting portion.

  The moving mechanism unit 21 decelerates the operation of the fixed unit 30 fixed to the base unit 11, the pinion 31, the Y-axis motor 32 that generates power to operate the stage unit 13 in the Y-axis direction, and the Y-axis motor 32. Y-axis speed reducer 33.

  The fixing portion 30 is disposed so as to be adjacent to the frame 11 a extending in the Y direction on the upper portion forming the base portion 11, and is fixed to the base portion 11.

  The pinion 31 is disposed above the fixed portion 30 in a state where the pinion 31 is rotatable about the Z-axis direction as a rotation axis. For example, the pinion 31 meshes with a rack 52 attached to the connecting portion 23 described later. When the pinion 31 rotates, the stage unit 13 can be moved in the Y direction.

  The Y-axis motor 32 is disposed below the pinion 31. The rotation axis of the Y-axis motor 32 extends upward from the Y-axis motor 32. The Y-axis motor 32 is connected to the pinion 31 at the tip end of the rotation shaft via the Y-axis speed reducer 33. Therefore, the pinion 31 rotates when the Y-axis motor 32 is driven.

  The Y-axis speed reducer 33 is disposed between the pinion 31 and the Y-axis motor 32. The Y-axis speed reducer 33 has a gear that decelerates the rotation of the rotation shaft of the Y-axis motor 32.

  The rotation mechanism unit 22 includes a fixed unit 40, a Z-axis motor 41 that rotates the stage unit 13 around the Z-axis, and a Z-axis speed reducer 42 that decelerates the operation of the Z-axis motor 41.

  The fixed part 40 is connected to a slide plate 51 described later. A rotating shaft 43 of a Z-axis motor 41 passes through the fixed portion 40 in the vertical direction.

  The Z-axis motor 41 is disposed below the fixed portion 40. A rotation shaft 43 of the Z-axis motor 41 is connected to the stage unit 13 via a Z-axis speed reducer 42.

  The Z-axis speed reducer 42 is disposed between the fixed portion 40 and the Z-axis motor 41. The Z-axis speed reducer 42 has a gear that decelerates the rotation of the rotation shaft 43 of the Z-axis motor 41.

  The rotating shaft 43 extends upward from the Z-axis motor 41. The rotating shaft 43 is guided by a bearing box 53 through a hole in a slide plate 51 to be described later, and a tip portion is connected to the stage portion 13. Therefore, when the Z-axis motor 41 is driven, the stage unit 13 rotates around the Z-axis.

  The connecting portion 23 includes a slide plate 51, a rack 52 provided below the slide plate 51, and a bearing box 53 provided between the slide plate 51 and the stage portion 13.

  The slide plate 51 is a plate that is arranged slightly above the base portion 11 and extends in the XY directions. The slide plate 51 connects the movement mechanism unit 21 and the rotation mechanism unit 22. Specifically, the slide plate 51 is fixed to the fixing unit 40 of the rotation mechanism unit 22. In addition, a protrusion 51 a that engages with the LM guide 11 b and a rack 52 are provided below the slide plate 51.

  The rack 52 is provided at the tip of a protruding portion that protrudes downward at the lower portion of the slide plate 51, and extends in the Y-axis direction. For example, the rack 52 has a plurality of teeth on the X surface side and is engaged with the teeth of the pinion 31. As the pinion 31 rotates, power in the Y-axis direction is generated in the rack 52, so that the slide plate 51 operates in the Y-axis direction. Here, when the slide plate 51 moves in the Y-axis direction according to the operation of the Y-axis motor 32, the rotation mechanism unit 22 and the stage unit 13 connected to the slide plate 51 move in the Y-axis direction.

  Further, a hole penetrating in the Z direction is provided at the center of the slide plate 51. The rotation shaft 43 of the Z-axis motor 41 passes through this hole.

  The lower part of the bearing box 53 is fixed on the slide plate 51. For example, the bearing box 53 has a cylindrical shape extending in the Z direction, and has a bearing mechanism for stabilizing the rotation of the rotating shaft 43 of the Z-axis motor 41.

  As shown in FIG. 1, the stage unit 13 is provided on the stage table 61, a plurality of workpiece receivers 62 provided on the stage table 61, and a workpiece is placed thereon, and projects upward from the upper part of the stage table 61. A workpiece positioning unit.

  The stage base 61 is connected to the rotating shaft 43 of the Z-axis motor 41 at the bottom. Therefore, when the stage base 61 moves in the Y-axis direction in conjunction with the operation of the slide plate 51 in the Y-axis direction, the Z-axis motor 41 moves in the Y-axis direction in conjunction with the stage unit 13. The work placed on the stage unit 13 moves in the Y-axis direction.

  The workpiece receiver 62 is a plurality of projecting portions that project upward from the stage base 61. A plate-like workpiece is placed in contact with the upper end of the workpiece receiver 62. The workpiece placed above the workpiece receiver 62 has a plate surface parallel to the XY plane (horizontal).

  The work positioning part 63 is a protruding part so that the lower end of the work positioning part 63 is connected to the stage base 61 and extends upward, and is provided outside the work receiver 62 in the XY direction. Note that the upward protrusion amount of the workpiece positioning portion 63 is longer than that of the workpiece receiver 62. That is, the workpiece positioning unit 63 defines the position of the end of the workpiece when the workpiece is placed on the workpiece receiver 62.

  As shown in FIG. 4, the application unit 14 is connected to the application nozzle unit 71 disposed on the upper part of the workpiece receiver 62 and the base 11, and the application nozzle support unit 72 having the application nozzle unit 71 at the tip. And comprising.

  The application nozzle unit 71 includes a fixed block 81 fixed to the application nozzle support unit 72, a shaft 82 extending in the vertical direction, a linear push 83 used in combination with the shaft 82, and a handle supported by the operator. A portion 84 and a nozzle 85 facing the workpiece provided below the application portion 14. The line connecting the rotation center of the application nozzle unit 71 and the rotation center of the stage unit 13 is arranged so as to coincide with the Y-axis direction.

  The fixed block 81 is fixed to the application nozzle support portion 72. A shaft 82 and a linear push 83 are disposed below the fixed block 81. By combining the shaft 82 with the linear push 83, the height of the nozzle 85 can be changed in the Z direction via a bearing. Note that a detection unit that detects the position of the rising end of the application nozzle unit 71 may be provided in the upper part of the fixed block 81.

  A handle portion 84 and a nozzle 85 are disposed below the shaft 82. The operator can change the height and direction of the nozzle 85 by operating the handle portion 84. When the operator rotates the handle portion 84, the nozzle 85 rotates about the Z axis.

  The nozzle 85 is provided with a notch for changing the degree of application in accordance with the application shape of the application material required on the workpiece. The nozzle 85 can be applied while changing the direction of the notch by the operation of the handle portion 84 by the operator.

  A fixing mechanism that is connected to the upper end of the fixing block 81 is provided above the application nozzle portion 71. In addition, a measurement unit that measures the position of the application nozzle unit 71 in the Z direction is provided above the application nozzle 71. For example, when the upper end of the application nozzle unit 71 is connected to the fixing mechanism, the operator holds the handle unit 84 and moves the nozzle 85 up and down according to the operation amount of the application nozzle unit measured by the measurement unit. Weight compensation can be performed.

  The coating nozzle support 72 has a frame 90 having one end connected to the base 11 and the other end connected to the coating nozzle 71, an operation unit 91 connected to the frame 90 and operable by an operator, and the stage unit 13. A display 92 is provided for displaying operation parameters such as rotation speed about the Y direction and the Z axis. For example, the operation unit 91 outputs an operation signal to the control unit 15 so as to change the rotational speed of the stage unit 13 around the Y direction and the Z axis. That is, the operator can adjust the rotation speed of the stage unit 13 in the Y direction and around the Z axis by operating the operation unit 91 while confirming the operation parameters displayed on the display 92. What is displayed on the display 92 is not limited to the operation parameter. For example, the application amount of the viscous material from the nozzle 85 may be displayed on the display 92, the operation unit 91 may operate the discharge amount of the viscous material from the nozzle 85, and the operation signal may be output to the control unit 15.

  The controller 15 is disposed in the vicinity of the base 11. The control unit 15 controls the operation of the support unit 12. More specifically, the control unit 15 controls the operations of the Y-axis motor 32 and the Z-axis motor 41 based on a program input in advance. Thereby, the control unit 15 controls the movement of the stage unit 13 in the Y direction, the rotation speed around the Z axis, and the like. Note that the control unit 15 may control the discharge amount of the coating material discharged from the nozzle 85.

  Thereby, the control unit 15 can control the position of the stage unit 13 by controlling the operation of the movement mechanism unit 21 and the rotation mechanism unit 22, and can move the workpiece while the coating material is being applied by the coating nozzle unit 71. . At this time, the combination of the movement in the Y direction by the movement mechanism unit 21 and the rotation around the Z axis by the rotation mechanism unit 22 enables application of the viscous material at any position on the surface of the workpiece. Application to any trajectory is possible. Here, as shown in FIG. 5, the command value and the actual value are substantially the same according to the operation trajectory indicating the position through which the nozzle 85 has passed relative to the xy coordinates set on the stage unit 13. Has been confirmed to work.

  In the viscous material coating apparatus 1, the coating material can be coated on the workpiece by changing the orientation and position of the workpiece without largely changing the position of the coating nozzle portion 71. Therefore, it is possible to apply the viscous material with an arbitrary trajectory to the workpiece to be applied with a simple configuration without using a robot.

  Further, since the application nozzle unit 71 is fixed in the X and Y directions and the application is performed by moving the workpiece, the space is saved as compared with application by a conventional robot.

  Also, the workpiece moving method is a combination of the moving mechanism unit 21 and the rotating mechanism unit 22, and a line connecting the rotation center of the coating nozzle unit 71 and the rotation center of the workpiece placed on the stage unit 13 is the Y axis. By arranging so as to coincide with the direction, it is possible to minimize the movement range of the workpiece. Moreover, since the movement mechanism part 21 and the rotation mechanism part 22 are limited to XY planar operations, they can be operated with a low thrust motor.

  The application material can be uniformly applied by setting the discharge amount of the viscous material from the nozzle 85 to a constant speed and making the relative speed between the workpiece and the nozzle 85 constant.

  When the application target is a curved glass or the like, the operator can perform application while holding the handle of the application nozzle unit 71 and adjusting the position and orientation of the nozzle 85.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, in the application nozzle unit 71, the configuration for moving the nozzle 85 up and down as moving up and down is described. However, when the application target is not curved, a mechanism for moving up and down is unnecessary. Further, when the cross-sectional shape of the coating material is not a specific cross-sectional shape such as a triangle, a mechanism for rotating the nozzle 85 is unnecessary.

DESCRIPTION OF SYMBOLS 1 Viscous material application | coating apparatus 11 Base 11b LM guide 12 Support part 13 Stage part 14 Application part 15 Control part 21 Movement mechanism part 22 Rotation mechanism part 23 Connection part 30 Fixing part 31 Pinion 32 Y-axis motor 33 Y-axis reduction gear 40 Fixing part 41 Z-axis motor 42 Z-axis speed reducer 43 Rotating shaft 51 Slide plate 51a Protrusion 52 Rack 53 Bearing box 61 Stage base 62 Work support 63 Work positioning part 71 Application nozzle part 72 Application nozzle support part 81 Fixed block 82 Shaft 83 Linear push 84 Handle part 85 Nozzle

Claims (1)

A stage unit that horizontally supports the placed plate-like workpiece;
A support part for supporting the stage part from below;
A position in a horizontal plane is fixed, and an application unit that applies a viscous material on the surface of the workpiece;
A control unit for controlling the operation of the support unit,
The support portion can slide the stage portion in only one direction in a horizontal plane and can rotate around the vertical direction.
Viscous material application device.

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